This paper deals with the position control of the voice coil motor ͑VCM͒ with handshaking. A disturbance observer is proposed to estimate the low-frequency handshaking disturbance, so that a handshaking-robust controller can be constructed. While a handshaking stabilizer can compensate for the vibration of the whole lens set, a robust controller is still required to precisely hold the autofocusing lens by rejecting the handshaking disturbance. To meet the request of miniaturization, the control is implemented on a field programmable gate array chip.